SOFA HI Paparazzi

• Název v anglickém jazyce: SOFA HI Paparazzi
• Klíčová slova: uav, komponentový systém, java, paparazzi, safety-critical aplikace, kontrolní systém
• Klíčová slova anglicky: uav, component system, java, paparazzi, safety-critical application, control system
• Akademický rok vypsání: 2010/2011
• Typ práce: diplomová práce
• Jazyk práce: angličtina
• Ústav: Katedra distribuovaných a spolehlivých systémů (32-KDSS)
• Vedoucí / školitel: RNDr. Michal Malohlava, Ph.D.

Zásady pro vypracování

Paparazzi project is an open-source C-based implementation of a unmanned aerial vehicle (UAV) control system. The software and hardware provided by this project have successfully flown several UAVs. The software part includes hard real-time on-board software including an implementation of fly-by-wire and autopilot units. However, the implementation is monolithic and inflexible which makes implementation and execution of subsequent experiments a cumbersome task. The solution of this problem could be in refactoring and decomposing implementation into well-defined and reusable modules with help of SOFA HI component systems which targets development of embedded and real-time systems.

Therefore, the goal of this thesis is to componentize the Paparazzi implementation of the on-board system with help of the SOFA HI component system. The thesis should also test an eligibility of SOFA HI for development of safety-critical systems and identify weak points of SOFA HI and propose possible improvements.

Seznam odborné literatury

[1] Paparazzi project, http://paparazzi.enac.fr/.

[2] jPapaBench project, http://d3s.mff.cuni.cz/~malohlava/jpapabench.

[3] SOFA 2 component system project, http://sofa.ow2.org/

[4] Bures, T., Hnetynka, P., Plasil, F., Klesnil, J., Kmoch, O., Kohan, T., Kotrc, P.: "Runtime Support for Advanced Component Concepts", Proceedings of SERA 2007, Busan,Korea, IEEE CS, ISBN 0-7695-2867-8, pp. 337-345, Aug 2007.

[5] Bures, T., Hnetynka, P., Plasil, F.: SOFA 2.0: Balancing Advanced Features in a Hierarchical Component Model, Proceedings of SERA 2006, Seattle, USA, IEEE CS, ISBN 0-7695-2656-X, pp.40-48, Aug 2006.

[6] T. Bureš, P. Hnětynka: "Safe Systems with Software Components in SOFA 2", ERCIM News 75, published by ERCIM EEIG, Sophia-Antipolis Cedex, ISSN 0926-4981, pp. 27-28, Oct 200.

[7] M. Fowler, K. Beck, J. Brant, W. Opdyke, D. Roberts: "Refactoring: Improving the Design of Existing Code", Addison-Wesley Professional; 1 edition, 1999.